Motion Driver

Code is for microcontroller: dsPIC33FJ128M802

http://www.microchip.com/wwwproducts/en/dsPIC33FJ128MC802

Compile

Used Arch linux to compile. Install xc16 MPLAB compiler, makefile is using binaries located by default at: /opt/microchip/xc16/v1.30/bin/

PicKit3 (upload .hex program to chip)

Use mplab_ipe located by default at: /opt/microchip/mplabx/v3.50/mplab_ipe/mplab_ipe when installed on Arch linux

To upload hex with mplab version 4.15

make upload mplab=v4.15

Getting started

Arch (yaourt)

• Install required tools sudo yaourt -S microchip-mplabx-bin microchip-mplabxc16-bin
• Compile make
• Run mplab_ipe to upload .hex

Generating config

make config robot=big
make py robot=big
make js robot=big

To use config from file: conf/robots/big.py

make robot=big

Old board version (with different pinout interface with H-Bridge)

make board=OLD

Simulation Mode

To compile in simulation mode:

make sim

To create virtual CAN device named can_big

make dev dev=can_big

To run simulation which uses device named can_big

./sim can_big

Robot Axis

• X is forward
• Y is 90 deg CCW from X (as natural)

Boards

• make board=V1 ver=OLD - dsPIC33FJ128M802 with older pcb design
• make board=V1 ver=NEW - dsPIC33FJ128M802 with newer pcb design
• make board=V2 - new PIC32MK1024MCF064 board